Xingyu Zhu

Xingyu Zhu, Guanhui Ye, Chengdong Dong et al.

Mesh watermark embeds secret messages in 3D meshes and decodes the message from watermarked meshes for ownership verification. Current watermarking methods directly hide secret messages in vertex and face sets of meshes. However, mesh is a discrete representation that uses vertex and face sets to describe a continuous signal, which can be discretized in other discrete representations with different vertex and face sets. This raises the question of whether the watermark can still be verified on the different discrete representations of the watermarked mesh. We conduct this research in an attack-then-defense manner by proposing a novel function space mesh watermark removal attack FuncEvade and then mitigating it through function space mesh watermarking FuncMark. In detail, FuncEvade generates a different discrete representation of a watermarked mesh by extracting it from the signed distance function of the watermarked mesh. We observe that the generated mesh can evade ALL previous watermarking methods. FuncMark mitigates FuncEvade by watermarking signed distance function through message-guided deformation. Such deformation can survive isosurfacing and thus be inherited by the extracted meshes for further watermark decoding. Extensive experiments demonstrate that FuncEvade achieves 100% evasion rate among all previous watermarking methods while achieving only 0.3% evasion rate on FuncMark. Besides, our FuncMark performs similarly on other metrics compared to state-of-the-art mesh watermarking methods.

Xingyu Zhu, Xiapu Luo, Xuetao Wei

Recent advancements in text-to-3D generation can generate neural radiance fields (NeRFs) with score distillation sampling, enabling 3D asset creation without real-world data capture. With the rapid advancement in NeRF generation quality, protecting the copyright of the generated NeRF has become increasingly important. While prior works can watermark NeRFs in a post-generation way, they suffer from two vulnerabilities. First, a delay lies between NeRF generation and watermarking because the secret message is embedded into the NeRF model post-generation through fine-tuning. Second, generating a non-watermarked NeRF as an intermediate creates a potential vulnerability for theft. To address both issues, we propose Dreamark to embed a secret message by backdooring the NeRF during NeRF generation. In detail, we first pre-train a watermark decoder. Then, the Dreamark generates backdoored NeRFs in a way that the target secret message can be verified by the pre-trained watermark decoder on an arbitrary trigger viewport. We evaluate the generation quality and watermark robustness against image- and model-level attacks. Extensive experiments show that the watermarking process will not degrade the generation quality, and the watermark achieves 90+% accuracy among both image-level attacks (e.g., Gaussian noise) and model-level attacks (e.g., pruning attack).

Xingyu Zhu, Xin Wang, Jonathan Freer et al.

Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics engines to synthesize depth images to reduce the cost of real labeled data collection. However, the natural domain gap between synthetic and real images often leads to poor performance of these methods on real data. Furthermore, these approaches often struggle in scenarios where grasping points are occluded by the clothing item itself. To address the above challenges, we propose a novel Bi-directional Fractal Cross Fusion Network (BiFCNet) for semantic segmentation, enabling recognition of graspable regions in order to provide more possibilities for grasping. Instead of using depth images only, we also utilize RGB images with rich color features as input to our network in which the Fractal Cross Fusion (FCF) module fuses RGB and depth data by considering global complex features based on fractal geometry. To reduce the cost of real data collection, we further propose a data augmentation method based on an adversarial strategy, in which the color and geometric transformations simultaneously process RGB and depth data while maintaining the label correspondence. Finally, we present a pipeline for clothes grasping and unfolding from the perspective of semantic segmentation, through the addition of a strategy for grasp point selection from segmentation regions based on clothing flatness measures, while taking into account the grasping direction. We evaluate our BiFCNet on the public dataset NYUDv2 and obtained comparable performance to current state-of-the-art models. We also deploy our model on a Baxter robot, running extensive grasping and unfolding experiments as part of our ablation studies, achieving an 84% success rate.